A correction robot of an elevator guide rail and a lifting work platform

Abstract

The application discloses an elevator guide rail correction robot and a lifting work platform. The elevator guide rail correction robot comprises a base, a supporting assembly arranged on the base, a correction assembly, a clamping assembly and a detection assembly. The detection assembly is used to obtain an initial position and a docking position of the elevator guide rail. The clamping assembly comprises an X-axis clamping mechanism and a Y-axis clamping mechanism. The X-axis clamping mechanism and the Y-axis clamping mechanism are used to clamp the elevator guide rail. The correction assembly is provided with a horizontal moving mechanism used to drive the correction robot to move and an RZ-axis rotating mechanism used to drive the correction robot to rotate. When the clamping assembly clamps the elevator guide rail, the horizontal moving mechanism cooperates with the RZ-axis rotating mechanism to drive the elevator guide rail to move from the initial position to the docking position. The correction assembly with multi-axis freedom and the clamping assembly with the X-axis direction and the Y-axis direction are cooperated, so that the accuracy of clamping and moving adjustment of the correction robot on the elevator guide rail is improved, and the docking accuracy of the elevator guide rail is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of elevator installation, in particular to an elevator guide rail correction robot and a lifting work platform. BACKGROUND

[0002] In the current butt joint installation process of the elevator guide rail, the butt joint position of the elevator guide rail and the reference guide rail needs to be corrected by a correction device. Since the current correction device mainly marks the installation position of the elevator guide rail through a laser sensing device, the installation personnel manually butt weld the elevator guide rail and the reference guide rail according to the marked position. This butt joint processing technology of the elevator guide rail is prone to human operation errors.

[0003] The existing full-automatic guide rail butt joint device grasps the guide rail by a mechanical hand, cooperates with a preset running path, and adjusts the guide rail according to the marked butt joint position point. Since the mechanical hand of the butt joint device is limited by the construction environment of the elevator shaft, the activity area of the mechanical hand is limited, which leads to the decrease in the installation position accuracy of the mechanical hand for the elevator guide rail, and affects the reliability of the guide rail elevator butt joint. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art. The present application provides an elevator guide rail correction robot and a lifting work platform. The elevator correction robot with multiple-axis motion freedom is configured to realize accurate pose adjustment of the elevator guide rail.

[0005] The present application provides an elevator guide rail correction robot, which comprises a base, a correction assembly arranged on the base, a clamping assembly and a detection assembly. The detection assembly is used to obtain the initial position of the elevator guide rail and the butt joint position of the elevator guide rail.

[0006] The clamping assembly comprises an X-axis clamping mechanism and a Y-axis clamping mechanism for clamping the guide rail. The X-axis clamping mechanism and the Y-axis clamping mechanism cooperate to clamp the elevator guide rail.

[0007] The correction assembly is provided with a horizontal movement mechanism for driving the movement of the correction robot and an RZ-axis rotating mechanism for driving the rotation of the correction robot.

[0008] When the clamping assembly clamps the elevator guide rail, the horizontal movement mechanism moves the guide rail in the horizontal plane, and the RZ-axis rotating mechanism drives the elevator guide rail to move from the initial position to the butt joint position.

[0009] Further, the RZ-axis rotating mechanism comprises a first guide rail slider group transmitted along the X-axis, a first base plate distributed along the Y-axis, and a first bearing plate. The first guide rail slider group is arranged at one end of the first base plate.

[0010] The first bearing plate and the first base plate are arranged in parallel, and a first rotating base is arranged on the first base plate, and one end of the first bearing plate is connected to the first base plate based on the first rotating base;

[0011] The first bearing plate is driven to rotate around the first rotating base based on the first guide rail slider group.

[0012] Further, the first guide rail slider group comprises a first driving motor, a first linear guide rail arranged along the X-axis, and a first slider slidingly fitted in the first linear guide rail;

[0013] The other end of the first bearing plate is arranged on the first slider, and the first driving motor is connected to the first slider based on a screw drive, and under the driving of the first driving motor, the first slider can move along the first linear guide rail in the X-axis direction, and drive the one end of the first bearing plate to move in the X-axis direction.

[0014] Further, the clamping assembly comprises a second bearing plate arranged on the correction assembly, a Y-axis telescopic mechanism arranged on the second bearing plate, and an X-axis telescopic mechanism arranged on the bottom surface of the second bearing plate.

[0015] The X-axis telescopic mechanism is used to adjust the position of the elevator guide rail in the X-axis direction, and the Y-axis telescopic mechanism is used to clamp and fix the elevator guide rail in the Y-axis direction.

[0016] Further, the Y-axis telescopic mechanism comprises a first moving plate, and first and second limiting arms are arranged on both sides of the first moving plate, and a limiting area for accommodating the guide rail is formed between the first and second limiting arms.

[0017] Further, a locking arm is arranged on the first limiting arm, and one end of the locking arm is rotatably arranged on the first limiting arm.

[0018] The locking arm is arranged along the Z-axis, and the limiting area is in an open state, or the locking arm is arranged along the X-axis, and the limiting area is in a closed state.

[0019] Further, the correction robot further comprises a leveling assembly, and the leveling assembly is arranged on the base, and the correction assembly is arranged on the leveling assembly.

[0020] The leveling assembly comprises an RX-axis leveling mechanism rotating around the X-axis and an RY-axis leveling mechanism rotating around the Y-axis arranged below the correction assembly, and the correction robot is driven to rotate around the X-axis based on the RX-axis leveling mechanism, and / or the correction robot is driven to rotate around the Y-axis based on the RY-axis leveling mechanism.

[0021] Further, the correction robot further comprises a support assembly arranged below the base, the support assembly being used for carrying the base;

[0022] The support assembly comprises a support rod and a telescopic transmission screw rod, the telescopic transmission screw rod being inserted into the support rod, one end of the support rod being provided with a threaded connection part, the support rod being threadedly connected with the telescopic transmission screw rod based on the threaded connection part, forming a telescopic rod assembly.

[0023] Further, the support assembly further comprises a support mounting frame and a telescopic drive motor;

[0024] The support mounting frame is provided with two groups of the telescopic rod assemblies symmetrically distributed, and the telescopic drive motor is arranged between the two groups of the telescopic rod assemblies, the telescopic drive motor synchronously driving the two groups of the telescopic rod assemblies.

[0025] The application further provides a lifting work platform, the lifting work platform comprising a frame, a lifting assembly used for driving the frame to lift, and the elevator guide rail correction robot arranged on the frame;

[0026] When the lifting assembly drives the frame to lift and move, the support assembly of the correction robot is retracted into the frame;

[0027] When the lifting assembly drives the frame to move to a construction position, the support assembly of the correction robot is extended outside the frame.

[0028] The application provides an elevator guide rail correction robot and a lifting work platform, by arranging the elevator correction robot with multiple-axis motion freedom, precise pose adjustment of the elevator guide rail is realized, the leveling assembly of the correction robot is used to adjust the working plane of the correction robot to be in a horizontal state, and the accuracy of correction is improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0030] Figure 1 is a structural schematic view of the elevator guide rail correction robot in the embodiment of the present application;

[0031] Figure 2 is a structural schematic view of the support assembly in the embodiment of the present application;

[0032] Figure 3 is a structural schematic diagram of a leveling assembly in an embodiment of the present application;

[0033] Figure 4 is a structural schematic diagram of an RX axis rotating mechanism in an embodiment of the present application;

[0034] Figure 5 is a structural schematic diagram of a correction assembly in an embodiment of the present application;

[0035] Figure 6 is a structural schematic diagram of an RZ axis rotating mechanism in an embodiment of the present application;

[0036] Figure 7 is a structural schematic diagram of a horizontal moving mechanism in an embodiment of the present application;

[0037] Figure 8 is a structural schematic diagram of a clamping assembly in an embodiment of the present application;

[0038] Figure 9 is a structural schematic diagram of a clamping assembly in an embodiment of the present application from another perspective;

[0039] Figure 10 is a structural schematic diagram of a lifting work platform in an embodiment of the present application;

[0040] Figure 11 is a work flow diagram of an elevator guide rail correction robot in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0042] Embodiment one:

[0043] Figure 1 A structural schematic diagram of an elevator guide rail correction robot in an embodiment of the present application is shown, which includes a base 60, and a leveling assembly 20, a correction assembly 30, a clamping assembly 50 and a detection assembly 40 arranged in sequence from bottom to top. The leveling assembly 20 is used to adjust the horizontal position of the correction robot, so that the working plane of the correction robot can be maintained on a horizontal plane, ensuring the working reliability of the correction robot.

[0044] Specifically, the detection assembly 40 is arranged at the front end of the clamping assembly 50 and the correction assembly 30, and is used to obtain the initial position of the elevator guide rail and the docking position of the elevator guide rail, so that the correction assembly 30 can adjust the elevator guide rail to move to the accurate docking position. Based on the detection sensor of the detection assembly 40, the position of the plumb line in the elevator shaft is identified, the positions of the plumb line and the guide rail are scanned based on the laser sensor, and the perpendicularity, the levelness, the coplanarity, the symmetry and the parallelism of the elevator guide rail are detected, so that the elevator guide rail meets the industrial requirements of the elevator track installation.

[0045] The detection assembly 40 includes a plurality of sensors arranged on the correction assembly 30, based on the movement of the correction assembly 30 in the XY plane, so that the detection assembly 40 can obtain the pose state of the correction robot and mark the installation docking position of the elevator guide rail, to meet the installation docking requirements of the elevator guide rail.

[0046] The correction assembly 30 is used to adjust the installation position of the elevator guide rail, so that the elevator guide rail is in the correct assembly position, and based on the correction assembly 30, the pose of the elevator guide rail can be quickly adjusted. The correction assembly 30 is configured with a horizontal movement mechanism for driving the correction robot to move and an RZ axis rotation mechanism 31 for driving the correction robot to rotate, and when the clamping assembly 50 clamps the elevator guide rail, the horizontal movement mechanism can be used to move the guide rail in the horizontal plane, and the RZ axis rotation mechanism 31 can be used to quickly adjust the position of the guide rail.

[0047] The clamping assembly 50 includes an X-axis clamping mechanism and a Y-axis clamping mechanism for clamping the guide rail, based on the cooperation of the X-axis clamping mechanism and the Y-axis clamping mechanism, the elevator guide rail can be clamped, and after the correction assembly 30 adjusts the installation position of the elevator guide rail, the clamping assembly 50 can be used to clamp and fix the elevator guide rail.

[0048] The leveling assembly 20 includes an RX axis leveling mechanism arranged below the correction assembly 30 and rotating around the X axis, and an RY axis leveling mechanism rotating around the Y axis, based on the RX axis leveling mechanism, the correction robot can be driven to rotate around the X axis, based on the RY axis leveling mechanism, the correction robot can be driven to rotate around the Y axis, so as to adjust the parallelism of the correction robot in the XY plane, and ensure that the working plane of the correction robot is in the horizontal plane.

[0049] By using the correction robot with multi-axis freedom, the action flexibility of the correction robot can be improved, so that the correction robot can meet the correction requirements of different positions, that is, the correction robot can be adapted to different lifting platform correction processing scenes, such as the basket platform of the elevator shaft, the top platform of the elevator car, etc.

[0050] Specifically, the correction robot further comprises a supporting assembly 10 arranged below the base 60, the supporting assembly 10 is used for carrying the base 60, and the supporting assembly 10 is configured with a supporting rod 12 telescoping along the Y axis, so that the supporting rod 12 supports the correction robot in the elevator shaft, thereby improving the structural stability of the correction robot in the elevator shaft and ensuring that the correction robot can meet the positioning and correction operation of the assembly position of the elevator guide rail.

[0051] Further, the position of the correction robot is locked based on the supporting assembly 10, so that the correction robot can meet the positioning and installation requirements at any position in the elevator shaft, thereby improving the use flexibility of the correction robot.

[0052] The embodiment of the application provides a correction robot for an elevator guide rail, the correction robot is arranged on a construction lifting platform of an elevator shaft, the base 60, the leveling assembly 20, the correction assembly 30 and the clamping assembly 50 are supported based on the supporting assembly 10, the supporting assembly 10 is used for supporting and fixing the correction robot at any height position in the elevator shaft, and the accurate correction operation of the correction robot is ensured. The leveling assembly 20 and the correction assembly 30 with multi-axis freedom are configured, so that the correction robot can adapt to the installation and correction requirements of the elevator guide rail at different horizontal position angles.

[0053] Embodiment two:

[0054] Figure 2 The structure of the supporting assembly 10 in the embodiment of the application is shown, the supporting assembly 10 comprises a supporting mounting frame, a supporting rod 12, a telescopic transmission screw rod 15 and a telescopic drive motor 11, the telescopic transmission screw rod 15 is inserted into the supporting rod 12, one end of the supporting rod 12 is provided with a threaded connection part, and the supporting rod 12 is threadedly connected with the telescopic transmission screw rod 15 based on the threaded connection part.

[0055] The telescopic transmission screw rod 15 is inserted into the supporting rod 12 to form a telescopic rod assembly, the supporting mounting frame is provided with two groups of telescopic rod assemblies symmetrically distributed in the supporting mounting frame, and the telescopic drive motor 11 is arranged between the two groups of telescopic rod assemblies, the telescopic drive motor 11 synchronously drives the two groups of telescopic rod assemblies, so that the two groups of telescopic rod assemblies can synchronously perform telescopic operation.

[0056] Specifically, the middle part of the support mounting frame is provided with a gear linkage mechanism 14, the gear linkage mechanism 14 includes a driving gear 141 and a driven gear 142, the driving gear 141 and the driven gear 142 are engaged with each other, and the telescopic drive motor 11 is drivingly connected with the driving gear 141, two telescopic transmission lead screws 15 are symmetrically arranged on both sides of the driven gear 142, and any one of the telescopic transmission lead screws 15 is fixedly connected with the driven gear 142, so that the driven gear 142 drives the telescopic transmission lead screw 15 to rotate.

[0057] Further, the connecting position of the telescopic transmission lead screw 15 and the driven gear 142 is provided with a bearing, and the telescopic transmission lead screw 15 is connected with the support mounting frame based on the bearing, so that the telescopic transmission lead screw 15 can be fixed in the support mounting frame, and the telescopic transmission lead screw 15 can rotate in the support mounting frame based on the bearing, thereby meeting the telescopic working requirement of the telescopic rod assembly.

[0058] Specifically, the working principle of the support assembly 10 is that the correction robot is arranged on the lifting construction platform of the elevator shaft, the position of the correction robot is adjusted through the lifting construction platform, and two groups of telescopic rod assemblies symmetrically distributed are driven to work synchronously based on the telescopic drive motor 11 of the support assembly 10. Since the two groups of telescopic rod assemblies are symmetrically distributed and driven by the same telescopic drive motor 11, the support rods 12 of the two groups of telescopic rod assemblies can be synchronously stretched outwards, or the support rods 12 of the two groups of telescopic rod assemblies can be synchronously retracted inwards.

[0059] Based on the synchronous stretching outwards of the support rods 12 of the two groups of telescopic rod assemblies, the support rods 12 can abut against the inner wall of the elevator shaft, and based on the abutment of the support rods 12 against the inner wall of the elevator shaft, the correction robot can be stably fixed in the elevator shaft, thereby improving the reliability of the correction robot in performing the elevator guide rail correction work inside the elevator shaft.

[0060] Further, the end of the support rod 12 is provided with an elastic pressing mechanism 13, the elastic pressing mechanism 13 includes a receiving rod 131 arranged at the end of the support rod 12, a pressing plate 133 arranged at the end of the receiving rod 131, and a spring 132 located between the pressing plate 133 and the end of the support rod 12, the receiving rod 131 is inserted into the support rod 12, and the receiving rod 131 can telescopically move in the support rod 12. When the support rod 12 stretches outwards, the pressing plate 133 can abut against the inner wall of the elevator shaft, based on the continuous stretching outwards of the support rod 12, the distance between the end of the support rod 12 and the pressing plate 133 is shortened, and the spring 132 is in a compressed state. Based on the spring 132, the rigid contact of the support rod 12 with the inner wall of the elevator shaft is converted into a flexible contact, thereby reducing the risk of component extrusion damage of the support assembly 10.

[0061] Further, the pressing plate 133 can increase the contact area between the support rod 12 and the inner wall of the elevator shaft, so that the support assembly 10 can meet the support effect of the correction robot.

[0062] Further, the end face of the pressing plate 133 in contact with the inner wall of the elevator shaft is provided with a plurality of protrusions, and the contact friction between the pressing plate 133 and the inner wall of the elevator shaft is improved based on the plurality of protrusion structures, thereby improving the stability of the support assembly 10 in supporting and fixing the correction robot inside the elevator shaft.

[0063] Figure 3 The structure diagram of the leveling assembly 20 in the embodiment of the application is shown, the leveling assembly 20 comprises an RX-axis rotating mechanism 21 and an RY-axis rotating mechanism 22, the leveling assembly 20 is arranged on the base 60, and the RX-axis rotating mechanism 21 and the RY-axis rotating mechanism 22 are arranged in the Z-axis direction, the RY-axis rotating mechanism 22 is arranged above the RX-axis rotating mechanism 21, and based on the cooperation of the RX-axis rotating mechanism 21 and the RY-axis rotating mechanism 22, the working plane of the correction assembly 30 can be rotated and adjusted in the XY plane, so that the working plane of the correction assembly 30 is adjusted to be horizontal, and the accuracy of the correction robot in correcting the elevator guide rail is improved.

[0064] Specifically, Figure 4 The structure diagram of the RX-axis rotating mechanism 21 in the embodiment of the application is shown, the RX-axis rotating mechanism 21 comprises an RX-axis rotating drive motor 211, a horizontal slide rail assembly 214, an inclined slide table 215, an inclined slide rail assembly 216, a deflection plate 218 and a screw transmission assembly 212; the RX-axis rotating drive motor 211 is drivingly connected to the screw transmission assembly 212, the inclined slide table 215 is arranged in the screw transmission assembly 212, and the inclined slide table 215 is slidingly fitted on the horizontal slide rail assembly 214, based on the RX-axis rotating drive motor 211 driving the screw transmission assembly 212 to work, the inclined slide table 215 is driven to move on the horizontal slide rail assembly 214.

[0065] Further, the screw transmission assembly 212 and the horizontal slide rail assembly 214 are arranged in the Y-axis direction, that is, the inclined slide table 215 can be driven to move in the Y-axis direction by the RX-axis rotating drive motor 211.

[0066] Specifically, the inclined slide rail assembly 216 is arranged on the inclined slide base 215, and the inclined slide rail assembly 216 is slidably connected with an inclined slide block, the RX shaft rotating mechanism 21 is provided with a supporting seat 213 for supporting the turnover plate, one side of the turnover plate is rotatably connected to the supporting seat 213, and the other side of the turnover plate is rotatably connected to the inclined slide block, that is, the turnover plate can rotate around the connecting position of the supporting seat 213, and the turnover plate can also rotate around the connecting position of the inclined slide block.

[0067] Further, the working principle of the RX shaft rotating mechanism 21 is that the RX shaft rotating driving motor 211 drives the inclined slide base 215 to move on the horizontal slide rail, drives the inclined slide block to move horizontally along the Y axis, and the inclined slide block can move on the inclined guide rail assembly of the inclined slide base 215, the relative rotation between the turnover plate and the supporting seat 213 is formed synchronously based on the rotatable connection between the turnover plate and the inclined slide block, and the turnover plate can realize deflection rotation around the X axis based on the combined motion among the inclined slide base 215, the inclined slide block, the inclined guide rail assembly and the turnover plate.

[0068] Specifically, the RY shaft rotating mechanism 22 has the same structure design and action principle as the RX shaft rotating mechanism 21, which will not be described here.

[0069] The correction assembly 30 of the correction robot is driven by the RX shaft rotating mechanism 21 and the RY shaft rotating mechanism 22 to rotate in the XY plane, so that the working plane of the correction assembly 30 is in a horizontal state.

[0070] Figure 5 The structure schematic view of the correction assembly 30 in the embodiment of the application is shown, the correction assembly 30 is arranged with a horizontal moving mechanism for driving the clamping assembly 50 to move and an RZ shaft rotating mechanism 31 for driving the clamping assembly 50 to rotate, the horizontal moving mechanism comprises a first X axis moving mechanism 33 and a first Y axis moving mechanism 32, and the first X axis moving mechanism 33, the first Y axis moving mechanism 32 and the RZ shaft rotating mechanism 31 cooperate to enable the correction assembly 30 to meet the requirements of translation operation and swing operation in the XY plane, and meet the correction use requirements.

[0071] Specifically, Figure 6 The structure schematic view of the RZ shaft rotating mechanism 31 in the embodiment of the application is shown, the RZ shaft rotating mechanism 31 comprises a first guide rail slide block group 311 transmitting along the X axis, a first base plate 312 distributed along the Y axis and a first bearing plate 314, and the first guide rail slide block group 311 is arranged at one end of the first base plate 312.

[0072] The first bearing plate 314 and the first base plate 312 are arranged in parallel, the first base plate 312 is provided with a first rotating base 313, one end of the first bearing plate 314 is connected with the first base plate 312 based on the first rotating base 313, and the first base plate 312 and the first bearing plate 314 can be relatively rotated based on the first rotating base 313, that is, the first bearing plate 314 can rotate around the first rotating base.

[0073] Further, the first guide rail sliding block group 311 comprises a first driving motor 3111, a first linear guide rail 3112 arranged along the X-axis, and a first sliding block 3113 slidingly fitted in the first linear guide rail 3112, the other end of the first bearing plate 314 is arranged on the first sliding block 3113, and the first driving motor 3111 is drivingly connected with the first sliding block 3113 based on a screw rod, and under the driving of the first driving motor 3111, the first sliding block 3113 can move along the first linear guide rail 3112 in the X-axis direction, thereby driving the one end of the first bearing plate 314 to move in the X-axis direction.

[0074] Further, a slide rail adjusting mechanism 315 is arranged between the first bearing plate 314 and the first sliding block 3113, the slide rail adjusting mechanism 315 comprises a Y-axis adjusting guide rail 3152 arranged on the first bearing plate 314 and an adjusting sliding block 3151 arranged on the first sliding block 3113, the adjusting sliding block 3151 is slidingly fitted on the Y-axis adjusting guide rail 3152, so that when the first driving motor 3111 drives the first sliding block 3113 to slide along the X-axis, the first bearing plate 314 can be moved in the X-axis direction based on the traction of the first sliding block 3113, and can be adaptively moved in the Y-axis direction based on the slide rail adjusting mechanism 315, so that the first bearing plate 314 can swing and rotate based on the first rotating base 313, that is, the one end of the first bearing plate 314 rotates around the first rotating base 313 as a fixed axis, and the arc motion trajectory of the other end of the first bearing plate 314 is converted into horizontal movement in the X-axis and Y-axis directions, thereby realizing the rotation adjustment of the RZ axis.

[0075] Specifically, Figure 7 The structure schematic diagram of the horizontal moving mechanism in the embodiment of the application is shown, the horizontal moving mechanism is arranged on the first bearing plate 314, in the embodiment, the first Y-axis moving mechanism 32 is arranged on the first bearing plate 314, and the first X-axis moving mechanism 33 is arranged on the first Y-axis moving mechanism 32, so that the overall structure gravity center of the correction assembly 30 is lowered, and the structural stability of the cooperation between the RZ axis rotating mechanism 31 and the horizontal moving mechanism is improved.

[0076] Specifically, the first Y-axis moving mechanism 32 comprises a second driving motor 321 and a first electric sliding table 322 arranged along the Y-axis, and the first X-axis moving mechanism 33 comprises a third driving motor 331 and a second electric sliding table 332 arranged along the X-axis, the clamping assembly 50 is arranged on the moving sliding table of the second electric sliding table 332, so that the clamping assembly 50 can be adjusted on the second electric sliding table 332, and the second electric sliding table 332 is arranged on the moving sliding table of the first electric sliding table 322, and based on the cooperation of the first Y-axis moving mechanism 32 and the first X-axis moving mechanism 33, the movement adjustment of the locking assembly in the XY plane can be realized.

[0077] Further, through the cooperation of the RZ-axis rotating mechanism 31 and the horizontal moving mechanism, the correction assembly 30 can quickly adjust the position of the elevator guide rail horizontally.

[0078] Specifically, Figure 8 The structure diagram of the clamping assembly 50 in the embodiment of the application is shown, Figure 9 The structure diagram of the clamping assembly 50 in the embodiment of the application is shown, The clamping assembly 50 comprises a second bearing plate 53 arranged on the moving sliding table of the second electric sliding table 332, a Y-axis telescopic mechanism 51 arranged on the second bearing plate 53 and an X-axis telescopic mechanism 52 arranged on the bottom surface of the second bearing plate 53, the X-axis telescopic mechanism 52 is used for realizing the position adjustment of the elevator guide rail in the X-axis direction, and the Y-axis telescopic mechanism 51 is used for realizing the clamping and fixing of the elevator guide rail in the Y-axis direction, so that the clamping assembly 50 can meet the clamping and positioning of the elevator guide rail.

[0079] Further, the front end of the second bearing plate 53 is provided with a positioning block, based on the driving of the correction assembly 30 on the clamping assembly 50 to move and swing in the XY plane, so that the positioning block of the clamping assembly 50 can be attached to the side wall of the elevator guide rail, the correction of the position of the elevator guide rail is met, so as to ensure that the elevator guide rail is in the accurate assembly position.

[0080] Specifically, the Y-axis telescopic mechanism 51 comprises a first moving plate 512, first limiting arms 5121 and second limiting arms 5122 are arranged on the two sides of the first moving plate 512, and a limiting area for accommodating the guide rail is formed between the first limiting arms 5121 and the second limiting arms 5122, and the position of the guide rail is limited based on the limiting area of the Y-axis telescopic mechanism 51.

[0081] Further, the first limiting arm 5121 is provided with a locking arm 5123, one end of the locking arm 5123 is rotationally arranged on the first limiting arm 5121, the locking arm 5123 is arranged along the Z-axis, and the locking arm 5123 is perpendicular to the first limiting arm 5121, or the locking arm 5123 is arranged along the X-axis, and the locking arm 5123 is perpendicular to the first limiting arm 5121, and the second limiting arm 5122 is provided with a matching groove at the end, when the locking arm 5123 is arranged along the X-axis, the other end of the locking arm 5123 is matched and clamped in the matching groove, so that the limiting area of the Y-axis telescopic mechanism 51 is in a closed state.

[0082] Specifically, the Y-axis telescopic mechanism 51 further comprises a fourth drive motor 511, a first screw rod transmission group 513, and a second guide rail sliding block group 514 arranged along the Y-axis direction, the fourth drive motor 511 is drivingly connected with the first screw rod transmission group 513, and the first moving plate 512 is arranged on the first screw rod transmission group 513, so that the first moving plate 512 can move on the first screw rod transmission group 513 under the driving of the fourth drive motor 511.

[0083] Further, the second guide rail sliding block group 514 is arranged on the second bearing plate 53, and the first moving plate 512 is connected with the second bearing plate 53 based on the second guide rail sliding block group 514, so that the first moving plate 512 can move along the Y-axis direction on the second bearing plate 53, and the movement direction of the first moving plate 512 can be limited based on the second guide rail sliding block group 514, and the stability of the moving cooperation structure of the first moving plate 512 is improved.

[0084] Specifically, the X-axis telescopic mechanism 52 comprises a fifth drive motor 521, a second moving plate 523, a second screw rod transmission group, and a third guide rail sliding block group 522 arranged along the X-axis direction, the fifth drive motor 521 is drivingly connected with the second screw rod transmission group, and the second moving plate 523 is arranged on the second screw rod transmission group, so that the second moving plate 523 can move on the second screw rod transmission group under the driving of the fifth drive motor 521.

[0085] Further, the third guide rail sliding block group 522 is arranged between the second moving plate 523 and the second bearing plate 53, so that the second moving plate 523 can move along the X-axis direction under the driving of the fifth drive motor 521.

[0086] Further, the second moving plate 523 is provided with a push plate 524, the second moving plate 523 is partially extended outside the second bearing plate 53, so that the push plate 524 can be abutted on the side wall of the elevator guide rail based on the X-axis telescopic mechanism.

[0087] Based on the cooperation of the Y-axis telescopic mechanism 51 and the X-axis telescopic mechanism, the movement of the elevator guide rail in the Y-axis direction and the X-axis direction can be limited, so that the elevator guide rail can be clamped and fixed, thereby improving the accuracy of the installation of the elevator guide rail.

[0088] The embodiment of the present application provides a correction robot of an elevator guide rail, through the configuration of the elevator correction robot with multi-axis motion freedom, the accurate pose adjustment of the elevator guide rail is realized, the leveling assembly 20 of the correction robot is used for adjusting the working plane of the correction robot to be in a horizontal state, and the accuracy of correction is improved.

[0089] Embodiment three:

[0090] Figure 10 The structure diagram of the lifting working platform in the embodiment of the present application is shown, the lifting working platform comprises a frame 200, a lifting assembly 300 for driving the frame 200 to lift, and the elevator guide rail correction robot 100 arranged on the frame 200, based on the cooperation of the frame 200 and the lifting assembly 300, the lifting movement in the elevator shaft can be met, the correction robot 100 is driven to move to a suitable construction position in the elevator shaft, so that the construction and processing requirements can be met.

[0091] Further, the correction robot 100 can be arranged in the frame 200, so that the correction robot 100 can meet the butt joint requirements of the elevator guide rail, and the correction robot 100 can be arranged on the top of the frame 200, so that the correction robot 100 can meet the component installation and setting of the top position of the elevator car.

[0092] When the lifting assembly 300 drives the frame 200 to move up and down, the supporting assembly of the correction robot 100 is retracted in the frame 200, the supporting assembly is arranged in the frame 200, and when the frame 200 is driven to move up and down by the lifting assembly 300, the lifting operation of the frame 200 is avoided.

[0093] When the lifting assembly 300 drives the frame 200 to move to a construction position, the supporting assembly of the correction robot 100 is extended outside the frame 200, when the position of the frame 200 is in the construction position for butt joint of the elevator guide rail, the supporting assembly is extended outward and abutted on the inner wall of the elevator shaft, the position of the correction robot 100 is fixed, and the shaking of the correction robot 100 is avoided.

[0094] Further, based on the support assembly extending outwards to the frame 200, the support assembly abuts against the inner wall of the elevator shaft, which can avoid the frame 200 from shaking and interfering with the correction operation of the correction robot 100.

[0095] Embodiment four:

[0096] Figure 11 A schematic diagram of a correction work flow of the correction robot for the elevator guide rail in the embodiment of the application is shown, and the correction work flow of the correction robot for the elevator guide rail comprises:

[0097] S101: Obtain correction data.

[0098] Before the correction work of the correction robot is performed, a reference vertical line is arranged in the elevator shaft, a first group of guide rails is arranged at the bottom of the elevator shaft according to the installation process requirement of the elevator, the installation position of the first group of guide rails is adjusted according to the reference vertical line, and the first group of guide rails is fixed at the bottom of the elevator shaft, so that the first group of elevator guide rails is arranged as reference guide rails.

[0099] Specifically, the correction robot is lowered to the position height of the reference guide rail, the reference guide rail is scanned by the detection assembly of the correction robot, so that the correction robot obtains the position data of the reference guide rail and marks it as correction data.

[0100] Specifically, the correction robot is lowered to the position height of the reference guide rail, the support assembly of the correction robot is stretched, so that the support rod of the support assembly abuts against the side wall of the elevator shaft, so that the correction robot can be fixed at the position of the reference guide rail in the elevator shaft, and the horizontal height position and parallel position data of the reference guide rail are recorded based on the detection assembly of the correction robot.

[0101] Further, after the correction data is obtained by the correction robot at the position of the reference guide rail, the support assembly is driven to retract, and the correction robot is raised to the installation position of the guide rail butt joint.

[0102] S102: Determine the construction position.

[0103] The correction robot is driven to move up and down in the elevator shaft by the construction lifting platform of the elevator shaft, the position of the correction robot is adjusted to be located at the installation position of the elevator guide rail and the reference guide rail, the support rod of the support assembly of the correction robot abuts against the inner wall of the elevator shaft, so that the correction robot can be located at the installation position of the guide rail butt joint, the butt joint position of the elevator guide rail is adjusted by the correction robot, so that the elevator guide rail can be located at the accurate installation position, thereby meeting the butt joint requirement of the elevator guide rail and the reference guide rail.

[0104] The correction robot is parked on the construction position, and the horizontal position state of the correction robot is obtained through the level bubble arranged on the correction robot based on the levelness of the working plane of the clamping assembly of the correction robot. The working plane of the correction assembly of the correction robot is driven to rotate around the X-axis or the Y-axis by the leveling assembly, so that the working plane of the correction assembly of the correction robot can be in a horizontal state.

[0105] S103: Adjust the pose of the correction robot.

[0106] The correction robot is parked on the construction position, and the horizontal position state of the correction robot is obtained through the level bubble arranged on the correction robot based on the levelness of the working plane of the clamping assembly of the correction robot. The working plane of the correction assembly of the correction robot is driven to rotate around the X-axis or the Y-axis by the leveling assembly, so that the working plane of the correction assembly of the correction robot can be in a horizontal state.

[0107] Specifically, the host system of the correction robot obtains the inclination of the working plane of the correction assembly according to the indicated levelness of the level bubble, and divides the inclination into a first deflection angle around the X-axis and a second deflection angle around the Y-axis, so that the leveling assembly can adjust the working plane of the correction assembly to be parallel to the XY plane, thereby ensuring that the working plane of the correction assembly of the correction robot can meet the installation requirements of the elevator guide rail docking.

[0108] Further, when the leveling assembly adjusts the working plane of the correction assembly, the levelness data of the level bubble is obtained in real time, so that the working plane of the correction assembly can be in a horizontal state.

[0109] S104: Obtain the docking information.

[0110] After adjusting the horizontal position of the correction robot, the docking information between the elevator guide rail and the reference guide rail is obtained through the detection assembly of the correction robot. The detection assembly of the correction assembly detects the docking position of the elevator guide rail, obtains the guide rail position of the elevator guide rail and the reference guide rail position, calculates the docking position of the elevator guide rail based on the reference guide rail position, plans the movement path of the elevator guide rail according to the guide rail position of the elevator guide rail and the docking position, and clamps the elevator guide rail based on the clamping assembly of the correction robot, and cooperates with the correction assembly to move the elevator guide rail to the docking position.

[0111] Further, the detection assembly of the correction robot can determine the docking position of the motor guide rail according to the reference guide rail position, and set the correction size of the clamping space of the clamping assembly according to the reference guide rail position. When the elevator guide rail is moved to the docking position, the clamping position of the clamping assembly to the elevator guide rail can be adjusted in the Y-axis direction and the X-axis direction based on the correction size of the clamping assembly. By adjusting the X-axis telescopic mechanism and the Y-axis telescopic mechanism of the clamping assembly, the clamping space of the clamping assembly can meet the clamping requirements of the elevator guide rail, and the elevator guide rail is adjusted to be in the correct docking position.

[0112] S105: Adjust the pose of the elevator guide rail.

[0113] Specifically, the correction assembly drives the Y-axis telescopic mechanism of the clamping assembly to approach the electrode guide rail, and makes the elevator guide rail located in the clamping space of the Y-axis telescopic mechanism. By driving the clamping assembly to move through the correction assembly, and based on the clamping assembly moving the elevator guide rail, the elevator guide rail can be quickly moved from the initial position to the docking position.

[0114] Further, when the elevator guide rail is located in the docking position, the push block of the X-axis telescopic mechanism of the clamping assembly is adjusted to fit on the side wall of the elevator guide rail, so that the elevator guide rail can be kept in a stable pose state. By adjusting the Y-axis telescopic mechanism, the positioning block is fitted on the front side of the elevator guide rail, and the locking arm is fitted on the rear side of the elevator guide rail, so as to realize the clamping and fixing of the elevator guide rail, and ensure that the elevator guide rail is in the correct docking position.

[0115] S106: Guide rail welding.

[0116] Based on the correction of the elevator guide rail position by the correction robot, the reference guide rail and the elevator guide rail are welded by the staff or the welding robot, so that the elevator guide rail and the reference guide rail can be accurately welded and fixed in docking. After the elevator guide rail and the reference guide rail are welded and fixed, the clamping state of the clamping assembly is released, the clamping assembly is driven to reset, and the support assembly is driven to retract, so that the correction robot can perform the correction operation of the next guide rail docking.

[0117] Further, the elevator guide rail that has completed the docking welding is taken as a new reference guide rail, and the operation steps of guide rail docking are repeated, so as to realize the docking installation of the elevator guide rail.

[0118] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiments of the various methods can be completed by instructing the relevant hardware with a program, and the program can be stored in a computer readable storage medium, which can include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0119] In addition, the above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by using specific examples in this paper. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. An elevator guide rail correction robot characterized by, The elevator guide rail correction robot comprises a base, a supporting assembly arranged under the base, a correction assembly arranged on the base, a clamping assembly and a detection assembly for acquiring an initial position of the elevator guide rail and a butt joint position of the elevator guide rail; The supporting assembly is used for bearing the base and realizing position fixation of the correction robot; The clamping assembly comprises an X-axis clamping mechanism and a Y-axis clamping mechanism for clamping the guide rail, and the X-axis clamping mechanism and the Y-axis clamping mechanism are used for clamping the elevator guide rail in cooperation; The correction assembly is configured with a horizontal movement mechanism for driving the correction robot to move and an RZ-axis rotating mechanism for driving the correction robot to rotate; When the clamping assembly clamps the elevator guide rail, the horizontal movement mechanism is used for moving the guide rail in a horizontal plane, and the RZ-axis rotating mechanism is used for driving the elevator guide rail to move from the initial position to the butt joint position in cooperation. The RZ-axis rotating mechanism comprises a first guide rail slider group transmitted along an X axis, a first base plate distributed along a Y axis and a first bearing plate, and the first guide rail slider group is arranged at one end of the first base plate; The first bearing plate and the first base plate are arranged in parallel, the first base plate is provided with a first rotating base, and one end of the first bearing plate is connected to the first base plate based on the first rotating base; The first guide rail slider group comprises a first linear guide rail arranged along the X axis and a first slider slidingly fitted in the first linear guide rail, and the first bearing plate rotates around the first rotating base based on X-axis direction movement of the first slider; The correction robot further comprises a leveling assembly arranged on the base, and the correction assembly is arranged on the leveling assembly; The leveling assembly comprises an RX-axis leveling mechanism rotating around the X axis and an RY-axis leveling mechanism rotating around the Y axis arranged below the correction assembly, the RX-axis leveling mechanism is used for driving the correction robot to rotate around the X axis, and / or the RY-axis leveling mechanism is used for driving the correction robot to rotate around the Y axis.

2. The elevator guide rail correction robot of claim 1, wherein, The first guide rail slider group further comprises a first driving motor; The other end of the first bearing plate is arranged on the first slider, the first driving motor is connected to the first slider based on a screw rod driving mode, and the first slider can move along the first linear guide rail in the X axis direction and drive one end of the first bearing plate to move in the X axis direction based on driving of the first driving motor.

3. The elevator guide rail correction robot of claim 1, wherein, The clamping assembly comprises a second bearing plate arranged on the correction assembly, a Y-axis telescopic mechanism arranged on the second bearing plate and an X-axis telescopic mechanism arranged on the bottom surface of the second bearing plate; The X-axis telescopic mechanism is used for realizing position adjustment of the elevator guide rail in the X axis direction, and the Y-axis telescopic mechanism is used for realizing clamping fixation of the elevator guide rail in the Y axis direction.

4. The elevator guide rail correction robot of claim 3, wherein, The Y-axis telescopic mechanism comprises a first moving plate, and first and second limiting arms are arranged on both sides of the first moving plate, and a limiting area for accommodating the guide rail is formed between the first and second limiting arms.

5. The elevator guide rail straightening robot of claim 4, wherein, The first limiting arm is provided with a locking arm, one end of the locking arm is rotationally arranged on the first limiting arm; The locking arms are arranged along the Z-axis in the axial direction, the limiting area is in the open state, or the locking arms are arranged along the X-axis in the axial direction, and the limiting area is in the closed state.

6. The elevator guide rail straightening robot of claim 1, wherein, The support assembly comprises a support rod and a telescopic transmission screw rod, the telescopic transmission screw rod is inserted into the support rod, one end of the support rod is provided with a threaded connection part, the support rod is threadedly connected with the telescopic transmission screw rod based on the threaded connection part, and a telescopic rod assembly is formed.

7. The elevator guide rail straightening robot of claim 6, wherein, The support assembly further comprises a support mounting rack and a telescopic drive motor. The support mounting rack is provided with two groups of telescopic rod assemblies which are symmetrically distributed, and the telescopic drive motor is arranged between the two groups of telescopic rod assemblies, and the telescopic drive motor synchronously drives the two groups of telescopic rod assemblies.

8. A lifting work platform, characterized in that The lifting work platform comprises a frame, a lifting assembly for driving the frame to lift, and the elevator guide rail correction robot as claimed in any one of claims 1 to 7 arranged on the frame; When the lifting assembly drives the frame to lift and move, the support assembly of the correction robot is retracted into the frame; When the lifting assembly drives the frame to move to the construction position, the support assembly of the correction robot is extended outside the frame.

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